From fede727d38fb903d09743761b074d465430abc6b Mon Sep 17 00:00:00 2001 From: Pierre Kancir Date: Thu, 13 Apr 2017 13:29:38 +0200 Subject: [PATCH] AP_AHRS: example fix travis warning missing function declaration implicit cast some style fix --- .../AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp | 25 +++++++++---------- 1 file changed, 12 insertions(+), 13 deletions(-) diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp index 6b4cee8e94..7bef17eb37 100644 --- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp +++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp @@ -8,6 +8,9 @@ #include #include +void setup(); +void loop(); + const AP_HAL::HAL& hal = AP_HAL::get_HAL(); // INS and Baro declaration @@ -34,10 +37,6 @@ static DummyVehicle vehicle; // AP_AHRS_DCM ahrs(ins, baro, gps); AP_AHRS_NavEKF ahrs(vehicle.ahrs); - -#define HIGH 1 -#define LOW 0 - void setup(void) { AP_BoardConfig{}.init(); @@ -68,7 +67,7 @@ void loop(void) } last_t = now; - if (now - last_compass > 100*1000UL && + if (now - last_compass > 100 * 1000UL && compass.read()) { heading = compass.calculate_heading(ahrs.get_rotation_body_to_ned()); // read compass at 10Hz @@ -83,14 +82,14 @@ void loop(void) hal.console->printf( "r:%4.1f p:%4.1f y:%4.1f " "drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n", - ToDeg(ahrs.roll), - ToDeg(ahrs.pitch), - ToDeg(ahrs.yaw), - ToDeg(drift.x), - ToDeg(drift.y), - ToDeg(drift.z), - compass.use_for_yaw() ? ToDeg(heading) : 0.0f, - (1.0e6f*counter)/(now-last_print)); + (double)ToDeg(ahrs.roll), + (double)ToDeg(ahrs.pitch), + (double)ToDeg(ahrs.yaw), + (double)ToDeg(drift.x), + (double)ToDeg(drift.y), + (double)ToDeg(drift.z), + (double)(compass.use_for_yaw() ? ToDeg(heading) : 0.0f), + (double)((1.0e6f * counter) / (now-last_print))); last_print = now; counter = 0; }